{"id":"https://openalex.org/W4415159311","doi":"https://doi.org/10.23919/ecc65951.2025.11187277","title":"Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds","display_name":"Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4415159311","doi":"https://doi.org/10.23919/ecc65951.2025.11187277"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187277","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114761346","display_name":"Jelena Trisovic","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jelena Trisovic","raw_affiliation_strings":["ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I4210090941","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006016795","display_name":"Alexandre Didier","orcid":"https://orcid.org/0000-0001-5396-8996"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexandre Didier","raw_affiliation_strings":["ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I4210090941","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017056549","display_name":"Simon Muntwiler","orcid":"https://orcid.org/0000-0003-4720-3772"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Simon Muntwiler","raw_affiliation_strings":["ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I4210090941","https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037513714","display_name":"Melanie N. Zeilinger","orcid":"https://orcid.org/0000-0003-4570-7571"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Melanie N. Zeilinger","raw_affiliation_strings":["ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Institute for Dynamic Systems and Control,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I4210090941","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34697926,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3119","last_page":"3126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.8532999753952026},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7494999766349792},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6259999871253967},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.49000000953674316},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4287000000476837},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41339999437332153},{"id":"https://openalex.org/keywords/observational-error","display_name":"Observational error","score":0.4018999934196472},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.3571999967098236},{"id":"https://openalex.org/keywords/lipschitz-continuity","display_name":"Lipschitz continuity","score":0.3517000079154968}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8532999753952026},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7494999766349792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6468999981880188},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6259999871253967},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.49000000953674316},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4287000000476837},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4278999865055084},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41339999437332153},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.4018999934196472},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3571999967098236},{"id":"https://openalex.org/C22324862","wikidata":"https://www.wikidata.org/wiki/Q652707","display_name":"Lipschitz continuity","level":2,"score":0.3517000079154968},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3463999927043915},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.33379998803138733},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.30970001220703125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3073999881744385},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.28839999437332153},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28290000557899475},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27790001034736633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2766999900341034},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C39425265","wikidata":"https://www.wikidata.org/wiki/Q7098944","display_name":"Optimal estimation","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C179024874","wikidata":"https://www.wikidata.org/wiki/Q5395728","display_name":"Errors-in-variables models","level":2,"score":0.2705000042915344}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187277","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W1976132347","https://openalex.org/W1977654539","https://openalex.org/W2034486830","https://openalex.org/W2091638547","https://openalex.org/W2111295154","https://openalex.org/W2123871098","https://openalex.org/W2127578024","https://openalex.org/W2137813581","https://openalex.org/W2146881125","https://openalex.org/W2170802328","https://openalex.org/W2411093439","https://openalex.org/W2617481561","https://openalex.org/W2763756092","https://openalex.org/W2898231767","https://openalex.org/W2977977449","https://openalex.org/W3043971245","https://openalex.org/W3197899472","https://openalex.org/W3202122948","https://openalex.org/W4210301445","https://openalex.org/W4285053689","https://openalex.org/W4285172323","https://openalex.org/W4378421679","https://openalex.org/W4388918341","https://openalex.org/W4391022129","https://openalex.org/W4403204264"],"related_works":[],"abstract_inverted_index":{"This":[0,53],"paper":[1],"presents":[2],"a":[3,118],"robust":[4,30],"moving":[5],"horizon":[6],"estimation":[7,12],"(MHE)":[8],"approach":[9],"with":[10,109],"provable":[11],"error":[13],"bounds":[14],"for":[15,61,85,121],"solving":[16],"the":[17,58,62,73,95,105,122,129],"simultaneous":[18],"localization":[19],"and":[20,35,64,101,116,135],"mapping":[21],"(SLAM)":[22],"problem.":[23],"We":[24,93],"derive":[25],"sufficient":[26],"conditions":[27,76],"to":[28,111,137],"guarantee":[29],"stability":[31],"in":[32,38],"ego-state":[33,63,99],"estimates":[34],"bounded":[36],"errors":[37],"landmark":[39,45,65,69,88,106],"position":[40],"estimates,":[41],"even":[42],"under":[43],"limited":[44],"visibility":[46],"which":[47],"directly":[48],"affects":[49],"overall":[50],"system":[51],"detectability.":[52],"is":[54],"achieved":[55],"by":[56],"decoupling":[57],"MHE":[59,81],"updates":[60,70],"positions,":[66],"enabling":[67],"individual":[68],"only":[71],"when":[72],"required":[74],"detectability":[75,100],"are":[77],"met.":[78],"The":[79],"decoupled":[80],"structure":[82],"also":[83],"allows":[84],"parallelization":[86],"of":[87,104],"updates,":[89],"improving":[90],"computational":[91],"efficiency.":[92],"discuss":[94],"key":[96],"assumptions,":[97],"including":[98],"Lipschitz":[102],"continuity":[103],"measurement":[107,124],"model,":[108],"respect":[110],"typical":[112],"SLAM":[113],"sensor":[114],"configurations,":[115],"introduce":[117],"streamlined":[119],"method":[120],"range":[123],"model.":[125],"Simulation":[126],"results":[127],"validate":[128],"considered":[130],"method,":[131],"highlighting":[132],"its":[133],"efficacy":[134],"robustness":[136],"noise.":[138]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-14T00:00:00"}
